Hi,
We are, GreenBlitz 4590, using the C++ Command-Based Robot.
You can download the plugin through the windriver. You need first to switch it to Anvanced development and then click on the "Help" tab.
Basically it is all written here:
http://firstforge.wpi.edu/sf/docman/...tation/doc1297
We've also uploaded some tutorials about the command-based:
https://www.youtube.com/watch?v=avhnXSmONyE
Hope I helped!